Siemens SINUMERIK 840D sl Programming Manual page 367

Example: Comparison without and with 5-axis transformation
Description
5-axis programs are usually generated by CAD/CAM systems and not entered at the control.
So the following explanations are directed mainly at programmers of postprocessors.
The type of orientation programming is defined in G code group 50:
ORIEULER via Euler angle
ORIRPY via RPY angle (rotation sequence ZYX)
ORIVIRT1 via virtual orientation axes (definition 1)
ORIVIRT2 via virtual orientation axes (definition 2)
ORIAXPOS via virtual orientation axes with round axis positions
ORIPY2 via RPY angle (rotation sequence XYZ)
Machine manufacturer
The machine manufacturer can use machine data to define various variants. Please refer to
the machine manufacturer's instructions.
Job Planning
Programming Manual, 06/2009, 6FC5398-2BP20-0BA0
6.2 Three, four and five axis transformation (TRAORI)
Transformations
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